| | 1 | = BarrettHand BH8-262 Technical Specifications = |
| | 2 | === Kinematics Qty. === |
| | 3 | * Total fingers: 3 |
| | 4 | * Fingers which spread: 2 |
| | 5 | * Joints per finger: 3 |
| | 6 | * Motors per finger: 1 |
| | 7 | * Axes of spread motion: 2 |
| | 8 | * Motors for spread motion: 1 |
| | 9 | * Total axes: 8 |
| | 10 | * Total motors: 4 |
| | 11 | |
| | 12 | === Range of Motion === |
| | 13 | * Finger base joint: 140¡ |
| | 14 | * Fingertip: 48¡ |
| | 15 | * Finger spread: 180¡ |
| | 16 | |
| | 17 | === Finger Speed === |
| | 18 | * Finger fully open to fully closed: 1.0 sec |
| | 19 | * Full 180¡ finger spread: 0.3 sec |
| | 20 | |
| | 21 | === Position Sensing === |
| | 22 | * Type: optical incremental encoder |
| | 23 | * Resolution: 0.008¡ at the finger base joint |
| | 24 | 17,500 encoder counts full finger open to full close |
| | 25 | |
| | 26 | === Weight === |
| | 27 | * !BarrettHand™: 1.18 kg (2.60 lb) |
| | 28 | * Optional Arm Adapter B0133: 0.2 kg (0.4 lb) additional |
| | 29 | |
| | 30 | === Payload === |
| | 31 | * 2.0 kg (4.4 lb) per finger at tip |
| | 32 | |
| | 33 | === Motor Type === |
| | 34 | * Samarium-Cobalt, brushless, DC, servo motors |
| | 35 | |
| | 36 | === Mechanisms === |
| | 37 | * Worm drives integrated with patented cable drive and !TorqueSwitch™ |
| | 38 | |
| | 39 | === Power Requirements === |
| | 40 | * Single phase AC electrical outlet with ground. |
| | 41 | * Load: 500 W |
| | 42 | * Phases: Single |
| | 43 | * Voltage: 95-130 & 190-260 VAC |
| | 44 | * Frequency: 50/60 Hz |
| | 45 | |
| | 46 | === Power Supply === |
| | 47 | * Location: dry, stationary surface |
| | 48 | * Size: 298 x 149 x 42 mm (11.74 x 5.65 x 1.54 in) |
| | 49 | * Weight: 1224 gm (2.70 lb) |
| | 50 | |
| | 51 | === Cables === |
| | 52 | * 3-meter continuous-flex cable, 8-mm diameter (!BarrettHand™ Cable) |
| | 53 | * 3-meter serial extension cable |
| | 54 | * AC line cord |
| | 55 | |
| | 56 | === Hand Dimensions === |
| | 57 | |
| | 58 | [[Image(htdocs:bhand/figure40.png)]] |
| | 59 | |
| | 60 | Figure 40 - !BarrettHand™ Dimensions |
| | 61 | |
| | 62 | === Available Options === |
| | 63 | * B029A Strain gage Fingertip Torque Sensors for all three fingers |
| | 64 | * B0111 C++ Function Library |
| | 65 | * B01C3 Subscription Service |
| | 66 | |
| | 67 | === US Patents (patents established and pending in other countries) === |
| | 68 | * 5,501,498 |
| | 69 | * 5,388,480 |
| | 70 | * 4,957,320 |
